3D-reconstruction-PCL:利用PCL库对KITTI数据集和livox-hikvision融合数据进行三维重建-源码

上传者: 42150360 | 上传时间: 2021-06-29 19:42:44 | 文件大小: 7.43MB | 文件类型: ZIP
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PCL库三维重建 一,介绍 利用C ++ PCL库对KITTI数据集进行三维重建 利用livox激光雷达和hikvision相机进行三维重建 二,环境: VS2017 + PCL1.8.1 三,实验步骤: 3.1 KITTI三维重建 用KITTI的配准信息将点云投影到图像上获得真彩色点云 滤波 重采样平滑 法线计算 将点云坐标,颜色,法线信息合在一起 网格化(贪心三角化) 3.2 Livox-hikvision三维重建 读取.lvx文件,转换成pcd文件 读取hikvision拍摄视频 后续方法同2.1 补充:利用深度图进行网格化 四,结果: 4.1贪婪投影三角法网格化 1.真彩色点云(KITTI) 2.贪婪投影三角化(KITTI) 3.真彩色点云(lvx-5帧30000点) 4.贪婪投影三角化(lvx-5帧30000点) 随着处理帧数的增加,网格会更多致密,空洞会减少,但后续仍需要进行

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